用双目相机计算车辆接近速度，确保无信号十字路口避撞安全
Closing Speed Computation using Stereo Camera and Applications in Unsignalized T-Intersection
- 基于双目相机深度不确定性建模，自适应采样控制速度估计误差
- 计算出的接近速度上限为避撞提供可靠依据，误差在10%内
- 结合贝塞尔曲线路径与凸包特性，生成可验证安全的行驶轨迹
本文提出一种自动驾驶车辆在无信号T型交叉口的冲突化解策略，配备双目相机。考虑双目相机深度测量中的不确定性，建立数学模型，并分析得出自适应深度采样逻辑，确保计算的接近速度具有上界。进一步提出碰撞规避逻辑，利用该速度上界生成基于二次贝塞尔曲线参考路径的凸包性质的安全轨迹。通过使用下一代仿真（NGSIM）数据集生成邻近车辆轨迹，进行了真实场景下的验证。
原文摘要 · Abstract (English)
This letter presents a conflict resolution strategy for an autonomous vehicle mounted with a stereo camera approaching an unsignalized T-intersection. A mathematical model for uncertainty in stereo camera depth measurements is considered and an analysis establishes the proposed adaptive depth sampling logic which guarantees an upper bound on the computed closing speed. Further, a collision avoidance logic is proposed that utilizes the closing speed bound and generates a safe trajectory plan based on the convex hull property of a quadratic Bézier curve-based reference path. Realistic validation studies are presented with neighboring vehicle trajectories generated using Next Generation Simulation (NGSIM) dataset.
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